Always [bt_engine-1] [ERROR] [1670381930.543971309] [bt_node]: Action server not available after waiting

[lunanueva]

What action server is waiting ??

I have fibonacci_service.cpp in plugin/action

#include "std_srvs/srv/trigger.hpp"
#include "behaviortree_cpp_v3/bt_factory.h"
#include "behavior_tree/BtService.hpp"

using namespace BT;
using FibonacciService = std_srvs::srv::Trigger;

class Fibonacci : public BtService
{
public:
Fibonacci(const std::string & name, const BT::NodeConfiguration & config)
: BtService(name, config) {}

FibonacciService::Request::SharedPtr populate_request() override
{
FibonacciService::Request::SharedPtr request;
return request;
}

BT::NodeStatus handle_response(FibonacciService::Response::SharedPtr response) override
{
RCLCPP_INFO(_node->get_logger(), "Service call complete: ", response->message);
return BT::NodeStatus::SUCCESS;
}
};

BT_REGISTER_NODES(factory) {
factory.registerNodeType("FibonacciService");
}

[shonigmann]

I know this is a bit of an old issue now, but I was just playing around with this and found that (at least in Humble) the test server I was using (action_tutorials_cpp fibonacci_action_server) defines a server with action type action_tutorials_interfaces::action::Fibonacci while the demo action client defined in this repo is looking for example_interfaces::action::Fibonacci. The contents of the action definition are identical, but presumably the type mismatch is enough to prevent the client from "finding" a valid server.

Editing Fibonacci.cpp and the CMakeLists.txt to replace example_interfaces with action_tutorials_interfaces resolved the issue, but you could also do the inverse and edit your server.

EDIT: the included fibonacci_action_server.py node should work without modification; I somehow missed that on first glance